Model-based 6D detection of unseen objects – IC-BIN

This leaderbord shows the ranking for Model-based 6D detection of unseen objects on IC-BIN. The reported time is the average time to generate predictions for all objects in a single image (averaged over the datasets).

Date (UTC) Submission Views Test image AP APMSSD APMSPD Time (s)
2025-05-26 FRTPose-WAPR(Multi 2D Detections) Single RGB-D 0.745 0.755 0.734 53.274
2024-12-09 FRTPose.v1 (SAM6D-FastSAM, NIDS, CNOS and MUSE) single RGB-D 0.727 0.738 0.716 40.068
2025-05-23 FRTPose-WAPR(Default Detection) Single RGB-D 0.721 0.732 0.710 16.534
2025-05-31 FreeZeV2.2 Single RGB-D 0.720 0.734 0.706 25.277
2024-11-24 FRTPose.v1 (MUSE) single RGB-D 0.714 0.726 0.702 33.302
2024-11-02 FRTPose.v1 (Default Detections) single RGB-D 0.712 0.723 0.701 39.698
2024-11-02 FRTPose.v1 (SAM6D-FastSAM) single RGB-D 0.711 0.723 0.700 31.524
2024-11-24 FRTPose.v1 (SAM6D-FastSAM) single RGB-D 0.708 0.721 0.695 32.019
2024-11-24 FRTPose.v1 (Default Detections) single RGB-D 0.704 0.716 0.692 40.261
2024-11-29 FreeZeV2.1 single RGB-D 0.696 0.711 0.681 37.975
2025-05-21 FRTPose-WAPR(MUSE) (conf-0.25) Single RGB-D 0.683 0.696 0.670 1.308
2024-09-19 FreeZeV2 (SAM6D) (SAR threshold = -1) single RGB-D 0.620 0.637 0.603 50.065
2024-11-28 Co-op (F3DT2D, Coarse, RGBD) (sel rescoring, Intel(R) Core(TM) i9-14900K, RTX4090) Single RGB-D 0.564 0.575 0.554 1.062
2024-09-26 FreeZeV2 (SAM6D, Coarse-to-Fine) (0.45 to 0.25) single RGB-D 0.531 0.544 0.518 12.153
2024-09-26 FreeZeV2 (SAM6D, Coarse-to-Fine) single RGB-D 0.489 0.500 0.478 11.872
2024-11-28 Co-op (CNOS, Coarse, RGBD) (BOP 2024) single RGB-D 0.469 0.479 0.459 2.167
2024-11-28 Co-op (F3DT2D, 5 Hypo) (Intel(R) Core(TM) i9-14900K, RTX4090) Single RGB 0.467 0.443 0.491 11.352
2024-09-17 FreeZeV2 (SAM6D) single RGB-D 0.458 0.469 0.448 7.559
2024-11-28 Co-op (CNOS, 1 Hypo, RGBD) (BOP 2024) Single RGB-D 0.458 0.467 0.449 6.370
2024-09-20 GigaPose+GenFlow (5 hypothesis) single RGB 0.439 0.414 0.464 10.984
2024-11-28 Co-op (F3DT2D, 5 Hypo, RGBD) (Intel(R) Core(TM) i9-14900K, RTX4090) Single RGB-D 0.426 0.429 0.424 18.066
2024-11-28 Co-op (CNOS, 1 Hypo) (BOP 2024) Single RGB 0.409 0.389 0.429 6.414
2024-11-28 Co-op (CNOS, Coarse) (BOP 2024) Single RGB 0.403 0.366 0.439 2.168
2024-09-13 GigaPose+GenFlow (RGBD) (threshold = 0.0) Single RGB-D 0.402 0.420 0.384 3.439
2024-11-29 Co-op (CNOS, 5 Hypo, RGBD) (BOP 2024) Single RGB-D 0.399 0.403 0.395 20.505
2024-11-29 Co-op (CNOS, 5 Hypo) (BOP 2024) Single RGB 0.391 0.370 0.411 13.868
2024-09-27 GigaPose + GenFlow (threshold = 0.6) Single RGB 0.353 0.336 0.370 3.510
2024-09-18 GigaPose+GenFlow+kabsch (5 hypothesis) single RGB-D 0.292 0.297 0.286 11.643
2024-09-18 GigaPose-CVPR24 single RGB 0.057 0.025 0.089 0.723

Tip: Hover over the numbers to see more decimal places.